//if you after the menu the menu with a specific ID / Slug
//$menu_obj =wp_get_nav_menu_object($id_slug_or_name);
//if you after the menu at a specific location
$menu_obj = wpse45700_get_menu_by_location($location);
echo "<h3>".esc_html($menu_obj->name)."</h3>";
//Display menu here

Or, rather than echo the html, you could pass it as part of the the argument for the items attribute in wp_nav_menu.

replace the id 4 below with the id of your menu. if you don't know the id go into the menus page of the admin, right click on the tab of the menu you want to echo the title for, inspect elemenent and the id will be listed as menu=ID in the link.